Underwater robot posture adjusting and controlling device based on Boolean network, and method

An underwater robot and Boolean network technology, applied in the direction of attitude control, etc., can solve problems such as difficult to meet real-time and accuracy requirements, communication delays, etc., to reduce personnel work intensity and personnel equipment risks, improve accuracy, and control robustness strong effect

Active Publication Date: 2018-07-24
SHANGHAI JIAO TONG UNIV
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AI Technical Summary

Problems solved by technology

Since the propulsion system of an underwater robot is usually under-actuated and there is a delay in communication, not only high requirements are placed on the skills of the operator, but also the real-time and precision requirements of the control are often difficult to meet

Method used

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  • Underwater robot posture adjusting and controlling device based on Boolean network, and method
  • Underwater robot posture adjusting and controlling device based on Boolean network, and method
  • Underwater robot posture adjusting and controlling device based on Boolean network, and method

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specific Embodiment

[0041] Such as figure 1As shown, this implementation of the underwater robot attitude adjustment control device based on the Boolean network mainly consists of three parts, the sensor 1 in the left dotted line box, the Boolean network control module 2 in the middle solid line box, and the dotted line box on the right. Actuator 3.

[0042] The sensor 1 includes a water temperature sensor T1 arranged outside the submersible shell, a temperature sensor T2 arranged on the propulsion motor, a water depth (pressure) sensor H arranged at the bottom of the submersible casing, and a full-attitude three-dimensional electronic compass heading sensor C. Sonar S on the bow; the actuator 3 includes 5 special propellers, all of which are 48VDC DC motors, of which there are 2 left and right, 2 front and rear, and 1 vertical propeller; the Boolean network control module is based on an embedded processor. The core has strong computing and storage capabilities. The schematic diagram mainly show...

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Abstract

The invention relates to an underwater robot posture adjusting and controlling device based on Boolean network, and a method. The device comprises a temperature sensor used for respectively collectingthe real-time temperature of seawater and a propulsion motor; a pressure sensor, used for monitoring the water depth and pressure of working points; an electronic compass, used for monitoring the heading and posture of a submersible vehicle; a sonar, used for detecting barriers and measuring the relative distance; a Boolean network control module, whose input node is respectively corresponding tothe temperature sensor, the pressure sensor, the electronic compass, and the sonar, and is used for receiving the collected data, and whose output node is corresponding to a motor driver, with its ouput state after coding being used for driving the propulsion motor; the propulsion motor, used for adjusting and controlling the posture of the underwater robot. Compared with the prior art, the invention is advantageous in that with the controlling means, the adjusting and controlling of automatic posture of the underwater robot can be realized; as the controlling method is based on the Boolean network model, logic is determined, network establishing is flexible, and control robustness is strong.

Description

technical field [0001] The present invention relates to underwater robot attitude adjustment control technology, in particular to a Boolean network-based underwater robot attitude adjustment control device and method. By mapping sensors as input nodes and propellers as output nodes, the underwater robot Construct a Boolean network model; use the Boolean network as the core of the controller to obtain the state of the output node and then decode the output control signal of the driver to adjust the working state of the propulsion motor to realize the attitude adjustment and control of the underwater robot. Background technique [0002] Because underwater robots overcome the limitation of human diving depth, they can assist or even replace humans in underwater operations in some high-risk environments. They have become an important tool for exploring marine resources, protecting marine ecology, developing marine economy, and safeguarding marine rights and interests. Due to the...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/08
Inventor 张卫东张晓华韩华翔孙志坚张国庆衣博文乔磊
Owner SHANGHAI JIAO TONG UNIV
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